Tango.Tango3DReconstruction._UpdateColor C# (CSharp) Method

        private void _UpdateColor(TangoImageBuffer image, Matrix4x4 imagePose)
        {
            if (!m_sendColorToUpdate)
            {
                // There is no depth cloud to process.
                return;
            }

            if (m_context == IntPtr.Zero)
            {
                Debug.Log("Update called before creating a reconstruction context." + Environment.StackTrace);
                return;
            }

            lock (m_lockObject)
            {
                if (!m_mostRecentDepthIsValid)
                {
                    return;
                }

                APIImageBuffer apiImage;
                apiImage.width = image.width;
                apiImage.height = image.height;
                apiImage.stride = image.stride;
                apiImage.timestamp = image.timestamp;
                apiImage.format = (int)image.format;
                apiImage.data = image.data;

                APIPose apiImagePose = APIPose.FromMatrix4x4(ref imagePose);

                // Update the depth points to have the right value
                GCHandle mostRecentDepthPointsHandle = GCHandle.Alloc(m_mostRecentDepthPoints, GCHandleType.Pinned);
                m_mostRecentDepth.points = Marshal.UnsafeAddrOfPinnedArrayElement(m_mostRecentDepthPoints, 0);

                GCHandle thisHandle = GCHandle.Alloc(this, GCHandleType.Pinned);

                IntPtr rawUpdatedIndices;
                Status result = (Status)API.Tango3DR_update(
                    m_context, ref m_mostRecentDepth, ref m_mostRecentDepthPose,
                    ref apiImage, ref apiImagePose, ref m_colorCameraIntrinsics,
                    out rawUpdatedIndices);

                m_mostRecentDepthIsValid = false;
                thisHandle.Free();
                mostRecentDepthPointsHandle.Free();

                if (result != Status.SUCCESS)
                {
                    Debug.Log("Tango3DR_update returned non-success." + Environment.StackTrace);
                    return;
                }

                _AddUpdatedIndices(rawUpdatedIndices);
                API.Tango3DR_GridIndexArray_destroy(rawUpdatedIndices);
            }
        }